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Revert "Ramp up anti-aliasing in the VTK color image (RobotLocomotion…
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…#12264)"

This reverts commit f4bc79e.
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@BetsyMcPhail
BetsyMcPhail authored Oct 31, 2019
1 parent f4bc79e commit c73d1e4
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Showing 4 changed files with 13 additions and 92 deletions.
23 changes: 10 additions & 13 deletions geometry/render/render_engine_vtk.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -139,8 +139,6 @@ RenderEngineVtk::RenderEngineVtk(const RenderEngineVtkParams& parameters)
const auto& c = parameters.default_clear_color;
default_clear_color_ = ColorD{c(0), c(1), c(2)};

use_color_anti_aliasing_ = parameters.use_color_anti_aliasing;

InitializePipelines();
}

Expand Down Expand Up @@ -397,9 +395,15 @@ void RenderEngineVtk::InitializePipelines() {

// Generic configuration of pipelines.
for (auto& pipeline : pipelines_) {
// Multisampling disabled by design for label and depth. It is turned back
// on for the color image explicitly based on the use_color_anti_aliasing_
// value. Unit tests should keep it turned off.
// Multisampling disabled by design for label and depth. It's turned off for
// color because of a bug which affects on-screen rendering with NVidia
// drivers on Ubuntu 16.04. In certain very specific
// cases (camera position, scene, triangle drawing order, normal
// orientation), a plane surface has partial background pixels
// bleeding through it, which changes the color of the center pixel.
// TODO(fbudin69500) If lack of anti-aliasing in production code is
// problematic, change this to only disable anti-aliasing in unit
// tests. Alternatively, find other way to resolve the driver bug.
pipeline->window->SetMultiSamples(0);

auto camera = pipeline->renderer->GetActiveCamera();
Expand Down Expand Up @@ -433,16 +437,9 @@ void RenderEngineVtk::InitializePipelines() {
empty_color.r, empty_color.g, empty_color.b);

pipelines_[ImageType::kColor]->renderer->SetUseDepthPeeling(1);
pipelines_[ImageType::kColor]->renderer->UseFXAAOn();
pipelines_[ImageType::kColor]->renderer->SetBackground(
default_clear_color_.r, default_clear_color_.g, default_clear_color_.b);
if (use_color_anti_aliasing_ == VtkAntiAliasing::kOn) {
pipelines_[ImageType::kColor]->renderer->UseFXAAOn();
// TODO(SeanCurtis-TRI): VTK documentation is unclear on the interpretation
// of this value. However, we cargo-cult this value from
// https://gitlab.kitware.com/vtk/vtk/issues/17394
// If we can find a better basis for picking this value, do so.
pipelines_[ImageType::kColor]->window->SetMultiSamples(8);
}
}

void RenderEngineVtk::ImplementObj(const std::string& file_name, double scale,
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3 changes: 0 additions & 3 deletions geometry/render/render_engine_vtk.h
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Expand Up @@ -223,9 +223,6 @@ class RenderEngineVtk final : public RenderEngine,
// The color to clear the color buffer to.
systems::sensors::ColorD default_clear_color_;

// Determines whether color images are anti-aliased or not.
VtkAntiAliasing use_color_anti_aliasing_{VtkAntiAliasing::kOn};

// The collection of per-geometry actors (one actor per pipeline (color,
// depth, and label) keyed by the geometry's GeometryId.
std::unordered_map<GeometryId, std::array<vtkSmartPointer<vtkActor>, 3>>
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12 changes: 0 additions & 12 deletions geometry/render/render_engine_vtk_factory.h
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Original file line number Diff line number Diff line change
Expand Up @@ -8,13 +8,6 @@ namespace drake {
namespace geometry {
namespace render {

/** Determines whether anti-aliasing is on or off. (Designed so that on is the
default value. */
enum class VtkAntiAliasing {
kOn,
kOff
};

/** Construction parameters for the RenderEngineVtk. */
struct RenderEngineVtkParams {
/** The (optional) label to apply when none is otherwise specified. */
Expand All @@ -29,11 +22,6 @@ struct RenderEngineVtkParams {
channel in the range [0, 1]). The default value (in byte values) would be
[204, 229, 255]. */
Eigen::Vector3d default_clear_color{204 / 255., 229 / 255., 255 / 255.};

/** Disables multi-sample anti-aliasing for color images if set to false.
Defaults to enabled. Note: by design there is no anti-aliasing for color
or depth images. */
VtkAntiAliasing use_color_anti_aliasing{VtkAntiAliasing::kOn};
};

/** Constructs a RenderEngine implementation which uses a VTK-based OpenGL
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67 changes: 3 additions & 64 deletions geometry/render/test/render_engine_vtk_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ const int kHeight = 480;
const double kZNear = 0.5;
const double kZFar = 5.;
const double kFovY = M_PI_4;
const bool kShowWindow = true;
const bool kShowWindow = false;

// The following tolerance is used due to a precision difference between Ubuntu
// Linux and Mac OSX.
Expand Down Expand Up @@ -310,7 +310,7 @@ class RenderEngineVtkTest : public ::testing::Test {
void Init(const RigidTransformd& X_WR, bool add_terrain = false) {
const Vector3d bg_rgb{
kBgColor.r / 255., kBgColor.g / 255., kBgColor.b / 255.};
RenderEngineVtkParams params{{}, {}, bg_rgb, VtkAntiAliasing::kOff};
RenderEngineVtkParams params{{}, {}, bg_rgb};
renderer_ = make_unique<RenderEngineVtk>(params);
InitializeRenderer(X_WR, add_terrain, renderer_.get());
// Ensure that we truly have a non-default color.
Expand Down Expand Up @@ -442,10 +442,7 @@ TEST_F(RenderEngineVtkTest, ControlBackgroundColor) {
std::vector<ColorI> backgrounds{{10, 20, 30}, {128, 196, 255}, {255, 10, 40}};
for (const auto& bg : backgrounds) {
RenderEngineVtkParams params{
{},
{},
Vector3d{bg.r / 255., bg.g / 255., bg.b / 255.},
VtkAntiAliasing::kOff};
{}, {}, Vector3d{bg.r / 255., bg.g / 255., bg.b / 255.}};
RenderEngineVtk engine(params);
Render(&engine);
VerifyUniformColor(bg, 0u);
Expand Down Expand Up @@ -549,64 +546,6 @@ TEST_F(RenderEngineVtkTest, BoxTest) {
PerformCenterShapeTest(renderer_.get(), "Box test");
}

// Test that the anti-aliasing makes a difference. Place a box with the front
// face perpendicular to the camera direction. With a directional light pointing
// in the same direction as the camera direction, the face will be a single
// solid color (against a uniform background). With anti-aliasing, we expect
// there to be two unique colors. Without anti-aliasing there should be more
// colors.
TEST_F(RenderEngineVtkTest, AntiAliasTest) {
auto render_box = [this](VtkAntiAliasing anti_aliasing_state) {
const Vector3d bg_rgb{
kBgColor.r / 255., kBgColor.g / 255., kBgColor.b / 255.};
// For historical reasons, we disable the anti-aliasing for tests. In the
// past, there were circumstances in which this led to undesirable
// artifacts, (e.g. on-screen rendering with NVidia drivers on Ubuntu
// 16.04). Turning off anti-aliasing simplifies the tests.
RenderEngineVtkParams params{{}, {}, bg_rgb, anti_aliasing_state};
renderer_ = make_unique<RenderEngineVtk>(params);
InitializeRenderer(X_WC_, false, renderer_.get());

// Sets up a box.
Box box(1, 1, 1);
RigidTransformd X_WB{AngleAxisd{M_PI / 4, Vector3d::UnitZ()},
Vector3d{0, 0, 0}};
expected_label_ = RenderLabel(1);
const GeometryId id = GeometryId::get_new_id();
renderer_->RegisterVisual(id, box, simple_material(), X_WB,
false /* needs update */);

const DepthCameraProperties camera{160, 120, kFovY, "unused",
kZNear, kZFar};
// Can't use the member images in case the camera has been configured to a
// different size than the default camera_ configuration.
ImageRgba8U color(camera.width, camera.height);
renderer_->RenderColorImage(camera, kShowWindow, &color);
return color;
};

// Count the number of unique colors in the image.
auto count_colors = [](const ImageRgba8U& image) {
std::set<int> unique_colors;
for (int r = 0; r < image.height(); ++r) {
for (int c = 0; c < image.width(); ++c) {
const ImageRgba8U::T* pixel = image.at(c, r);
// Encode rgba bytes into a single int.
int color_id =
(*pixel << 24) | (*(pixel + 1) << 16) | (*(pixel + 2) << 8) |
*(pixel + 3);
unique_colors.insert(color_id);
}
}
return static_cast<int>(unique_colors.size());
};

ImageRgba8U aliased_image = render_box(VtkAntiAliasing::kOff);
EXPECT_EQ(count_colors(aliased_image), 2);
ImageRgba8U smooth_image = render_box(VtkAntiAliasing::kOn);
EXPECT_GT(count_colors(smooth_image), 2);
}

// Performs the shape-centered-in-the-image test with a sphere.
TEST_F(RenderEngineVtkTest, SphereTest) {
Init(X_WC_, true);
Expand Down

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